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Update feetech tables

This commit is contained in:
Simon Alibert 2025-04-16 11:01:12 +02:00
parent 2bb73ac431
commit 2743c29a96
3 changed files with 32 additions and 17 deletions
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37
lerobot/common/motors/feetech/tables.py
View File

@ -2,9 +2,8 @@ FIRMWARE_MAJOR_VERSION = (0, 1)
FIRMWARE_MINOR_VERSION = (1, 1)
MODEL_NUMBER = (3, 2)
# See this link for STS3215 Memory Table:
# https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
# data_name: (address, size_byte)
# http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0
STS_SMS_SERIES_CONTROL_TABLE = {
# EPROM
"Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # read-only
@ -36,7 +35,7 @@ STS_SMS_SERIES_CONTROL_TABLE = {
"Protective_Torque": (34, 1),
"Protection_Time": (35, 1),
"Overload_Torque": (36, 1),
"Speed_closed_loop_P_proportional_coefficient": (37, 1),
"Velocity_closed_loop_P_proportional_coefficient": (37, 1),
"Over_Current_Protection_Time": (38, 1),
"Velocity_closed_loop_I_integral_coefficient": (39, 1),
# SRAM
@ -44,21 +43,30 @@ STS_SMS_SERIES_CONTROL_TABLE = {
"Acceleration": (41, 1),
"Goal_Position": (42, 2),
"Goal_Time": (44, 2),
"Goal_Speed": (46, 2),
"Goal_Velocity": (46, 2),
"Torque_Limit": (48, 2),
"Lock": (55, 1),
"Present_Position": (56, 2), # read-only
"Present_Speed": (58, 2), # read-only
"Present_Velocity": (58, 2), # read-only
"Present_Load": (60, 2), # read-only
"Present_Voltage": (62, 1), # read-only
"Present_Temperature": (63, 1), # read-only
"Status": (65, 1), # read-only
"Moving": (66, 1), # read-only
"Present_Current": (69, 2), # read-only
# Not in the Memory Table
"Maximum_Acceleration": (85, 2),
"Goal_Position_2": (71, 2), # read-only
# Factory
"Moving_Velocity": (80, 1),
"Moving_Velocity_Threshold": (80, 1),
"DTs": (81, 1), # (ms)
"Velocity_Unit_factor": (82, 1),
"Hts": (83, 1), # (ns) valid for firmware >= 2.54, other versions keep 0
"Maximum_Velocity_Limit": (84, 1),
"Maximum_Acceleration": (85, 1),
"Acceleration_Multiplier ": (86, 1), # Acceleration multiplier in effect when acceleration is 0
}
# http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SCSCL-emanual-cbcc8ab2e3384282a01d4bf3
SCS_SERIES_CONTROL_TABLE = {
# EPROM
"Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # read-only
@ -66,7 +74,7 @@ SCS_SERIES_CONTROL_TABLE = {
"Model_Number": MODEL_NUMBER, # read-only
"ID": (5, 1),
"Baud_Rate": (6, 1),
"Return_Delay": (7, 1),
"Return_Delay_Time": (7, 1),
"Response_Status_Level": (8, 1),
"Min_Position_Limit": (9, 2),
"Max_Position_Limit": (11, 2),
@ -90,16 +98,23 @@ SCS_SERIES_CONTROL_TABLE = {
"Acceleration": (41, 1),
"Goal_Position": (42, 2),
"Running_Time": (44, 2),
"Goal_Speed": (46, 2),
"Goal_Velocity": (46, 2),
"Lock": (48, 1),
"Present_Position": (56, 2), # read-only
"Present_Speed": (58, 2), # read-only
"Present_Velocity": (58, 2), # read-only
"Present_Load": (60, 2), # read-only
"Present_Voltage": (62, 1), # read-only
"Present_Temperature": (63, 1), # read-only
"Sync_Write_Flag": (64, 1), # read-only
"Status": (65, 1), # read-only
"Moving": (66, 1), # read-only
# Factory
"PWM_Maximum_Step": (78, 1),
"Moving_Velocity_Threshold*50": (79, 1),
"DTs": (80, 1), # (ms)
"Minimum_Velocity_Limit*50": (81, 1),
"Maximum_Velocity_Limit*50": (82, 1),
"Acceleration_2": (83, 1), # don't know what that is
}
STS_SMS_SERIES_BAUDRATE_TABLE = {
@ -157,7 +172,7 @@ MODEL_BAUDRATE_TABLE = {
# Sign-Magnitude encoding bits
STS_SMS_SERIES_ENCODINGS_TABLE = {
"Homing_Offset": 11,
"Goal_Speed": 15,
"Goal_Velocity": 15,
}
MODEL_ENCODING_TABLE = {

6
lerobot/common/robots/lekiwi/robot_lekiwi.py
View File

@ -672,7 +672,7 @@ class LeKiwi:
"""
Reads the raw speeds for all wheels. Returns a dictionary with motor names:
"""
raw_speeds = self.motor_bus.read("Present_Speed", self.motor_ids)
raw_speeds = self.motor_bus.read("Present_Velocity", self.motor_ids)
return {
"left_wheel": int(raw_speeds[0]),
"back_wheel": int(raw_speeds[1]),
@ -684,9 +684,9 @@ class LeKiwi:
Sends raw velocity commands (16-bit encoded values) directly to the motor bus.
The order of speeds must correspond to self.motor_ids.
"""
self.motor_bus.write("Goal_Speed", command_speeds, self.motor_ids)
self.motor_bus.write("Goal_Velocity", command_speeds, self.motor_ids)
def stop(self):
"""Stops the robot by setting all motor speeds to zero."""
self.motor_bus.write("Goal_Speed", [0, 0, 0], self.motor_ids)
self.motor_bus.write("Goal_Velocity", [0, 0, 0], self.motor_ids)
print("Motors stopped.")

6
lerobot/common/robots/mobile_manipulator.py
View File

@ -684,7 +684,7 @@ class LeKiwi:
"""
Reads the raw speeds for all wheels. Returns a dictionary with motor names:
"""
raw_speeds = self.motor_bus.read("Present_Speed", self.motor_ids)
raw_speeds = self.motor_bus.read("Present_Velocity", self.motor_ids)
return {
"left_wheel": int(raw_speeds[0]),
"back_wheel": int(raw_speeds[1]),
@ -696,9 +696,9 @@ class LeKiwi:
Sends raw velocity commands (16-bit encoded values) directly to the motor bus.
The order of speeds must correspond to self.motor_ids.
"""
self.motor_bus.write("Goal_Speed", command_speeds, self.motor_ids)
self.motor_bus.write("Goal_Velocity", command_speeds, self.motor_ids)
def stop(self):
"""Stops the robot by setting all motor speeds to zero."""
self.motor_bus.write("Goal_Speed", [0, 0, 0], self.motor_ids)
self.motor_bus.write("Goal_Velocity", [0, 0, 0], self.motor_ids)
print("Motors stopped.")